Vessel lumen three-dimensional reconstruction method and system for vascular intervention surgery

Abstract

This invention belongs to the field of medical interventional devices and 3D reconstruction technology, and particularly relates to a method and system for 3D reconstruction of vascular lumens for vascular interventional surgery. The method includes: controlling the catheter / guidewire within the interventional vessel to move back and forth along the vessel axis to obtain pose data from dual magnetic sensors; obtaining the current frame tangent vector and the tangent vector of the previous adjacent frame based on the pose data, and constructing a local coordinate system; obtaining the axial projection distance based on the pose data and the tangent vector of the previous adjacent frame, and constructing an adaptive radius core equation to obtain the true radius of the vascular lumen; calculating the catheter / guidewire bending angle based on the current frame tangent vector and the tangent vector of the previous adjacent frame, and determining the effective wall-attached frames; generating a point cloud set of the vascular lumen based on the effective wall-attached frames and the true radius of the vascular lumen; and generating a 3D mesh from the point cloud set to complete the 3D reconstruction of the vascular lumen. The solution of this invention is adaptable to vascular interventional scenarios, requires no active rotation, requires no additional image assistance, is low in cost, and has high accuracy.

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